+ _goal.clear();
+ Preconditions goal = _finish->preconditions();
+ for (Preconditions::const_iterator precond = goal.begin(); precond != goal.end(); ++precond){
+ _goal.push_back(precond->first);
+ }
+
+ cout << "Unsatisfied preconditions so far: " << _goal.size() << ": ";
+ copy(_goal.begin(), _goal.end(), ostream_iterator<string>(cout, " "));
+ cout << endl;
+
+ //iterator for inserting effects at the end of _init
+ back_insert_iterator<Literals> ii(_init);
+
+ //Iterate throu the nodes, to see what's been done